JPH07164915A - Constant speed traveling control device for vehicle - Google Patents

Abstract

PURPOSE:To reduce a sense of incongruity of a driver by judging it as accelerator operation at the time when actual throttle opening is larger than first target throttle opening and judging it as accelerator non-operation at the time when the actual throttle opening is smaller than the first target throttle opening. CONSTITUTION:Whether actual throttle opening is larger than the sum of cruise opening (that is, target throttle opening decided by current car speed during constant speed traveling and target car speed) and specified opening alpha or not is judged. Hereby, the specified opening alpha is set at a value in consideration of responsiveness of a motor 21. In this way, an accelerator operation detection means judges that an accelerator pedal 2 is operated when the actual throttle opening detected by a throttle sensor 30 becomes larger than the cruise opening at the time of non-operation of the accelerator pedal 2 and a driver judges than the accelerator pedal 2 is not yet operated when it is smaller than the cruise opening.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle drive output control device having a constant speed running function capable of running a vehicle at a constant speed.

[0002]

2. Description of the Related Art In recent years, there has been known a constant speed traveling device which allows a vehicle to travel at a constant speed without depressing an accelerator pedal. This device stores a desired vehicle speed as an electric signal, compares the desired value with an actual vehicle speed detected by a vehicle speed detection sensor, and controls the opening of the throttle valve based on the result. . Since this device runs at a constant speed for a long time without pressing the accelerator pedal, it is extremely effective when running on a highway. However, with this, constant speed vehicle speed setting, acceleration, deceleration, etc. are performed by the driver operating the switch in the driver's seat, and the constant speed traveling is canceled especially by the brake operation, so on a congested road Frequent resetting of the constant-speed driving is required, and the driver's operation amount increases.

Therefore, as a technique for reducing the above-mentioned operation amount, a technique disclosed in Japanese Patent Laid-Open No. 60-206950 is known. This is because the correlation between the amount of accelerator depression by the driver and the target acceleration of the vehicle is stored in memory in advance, and the amount of accelerator depression by the driver is converted into the target value of running acceleration, and the amount of change in vehicle speed during the sampling time is converted. The actual acceleration is calculated from the above, and when there is a difference between the actual acceleration and the target acceleration, the throttle opening / closing speed is calculated so as to eliminate the difference. Based on this, the target throttle opening is calculated and the servo drive means is calculated. What is output is disclosed. In this structure, when the amount of depression of the accelerator pedal or the brake pedal is zero, the vehicle always travels at a constant speed, so that complicated switch operation is unnecessary.

[0004]

However, in this method, since the depression amount of the accelerator pedal is converted into the target acceleration of the vehicle, it is based on the depression amount of a general vehicle having no constant speed running function, that is, the depression amount of the accelerator pedal. Compared with the one in which the throttle opening is determined, the movement of the throttle valve with respect to the amount of depression of the accelerator pedal, that is, the accelerator feel, which is the driver's sense of foot, is different. Therefore, when the driver changes from a general vehicle that does not have the constant speed traveling function to one that converts the depression amount of the accelerator pedal into the target acceleration of the vehicle or vice versa, the difference in accelerator feel Therefore, the driver is likely to feel confused and is disadvantageous in terms of safety.

Further, since the mechanical brake braking force is applied to the wheels only when the brake stroke exceeds the predetermined stroke, even if the driver depresses the brake pedal, if the stroke is smaller than the predetermined stroke. Braking force is not applied. Therefore, if the brake pedal is lightly stepped, the braking force is more dangerous than in a general vehicle in which the brake braking force is applied to the wheels, and the braking force with respect to the amount of depression of the brake pedal, that is, the driver's brake feel is different from that in a general vehicle. . Therefore, if the brake pedal force is applied to the wheels by simply stepping on the brake pedal, or if the vehicle is switched from the other, or vice versa, the driver is likely to feel confused due to the difference in the brake feel, which is sufficient for safety. is not.

Therefore, according to the present invention, when the driver changes from a conventional vehicle in which the throttle opening is controlled according to the amount of depression of the accelerator paddal or vice versa, the driver feels uncomfortable and uncomfortable in the accelerator feel. In addition, when the driver lightly depresses the brake pedal, the brake braking force is applied to the wheels when changing from a general vehicle, or vice versa, to reduce the driver's confusion and discomfort in the brake feel.
This is a technical issue.

[0007]

The technical means taken in the present invention to solve the above technical problem is to detect the throttle valve for adjusting the intake air amount of the internal combustion engine and the opening degree of the throttle valve. Throttle opening detection means, constant speed running request means for requesting constant speed running of the vehicle, accelerator non-operation detecting means for detecting that the driver is not operating the accelerator pedal, and the driver operates the brake pedal. Brake non-operation detection means for detecting no operation, vehicle speed detection means for detecting the current vehicle speed of the running vehicle, constant speed driving required, constant speed when accelerator pedal not operated, brake not operated A constant speed running condition determining means that determines that the running condition is satisfied and otherwise determines that the constant speed running condition is not satisfied, and a vehicle speed check at the moment when the condition is not satisfied or when the condition is switched from satisfied to satisfied. Target vehicle speed updating means for updating the target vehicle speed to the current vehicle speed detected based on the means, and a target for setting the first target throttle opening so that the current vehicle speed matches the target vehicle speed updated by the target vehicle speed updating means. Throttle opening setting means, and control target switching means for selecting a first target throttle opening when the condition is satisfied and for selecting a second target throttle opening based on the operation amount of the accelerator pedal by the driver when the condition is not satisfied. , Throttle opening control means for controlling the actual throttle opening so as to match the target throttle opening selected by the control target switching means, and the accelerator non-operation detecting means is detected by the throttle opening detecting means. The actual throttle opening and the first target throttle opening are compared, and based on the result, accelerator operation or accelerator release When the actual throttle opening is larger than the first target throttle opening, the accelerator operation is judged. When the actual throttle opening is equal to or smaller than the first target throttle opening, the accelerator is operated. That is, it was decided that the operation was not performed.

A claim correspondence diagram is shown in FIG.

The constant-speed traveling request means is operated when the driver or the controller mounted on the vehicle requests constant-speed traveling of the vehicle. It is also possible to separately provide a non-actuation type. The brake non-operation detecting means is a means for directly or indirectly detecting a physical quantity related to non-operation of the brake pedal, and therefore a method of directly detecting the operation of the brake pedal, such as a potentiometer, an on / off switch, or a pedaling force sensor, or A method of indirectly detecting the operation of the brake pedal by a sensor that confirms the lighting of the brake lamp, a sensor that detects the brake pressure, a vehicle speed sensor, or the like may be used. The vehicle speed detecting means is a sensor that detects the rotational speed of the wheels, a sensor that detects the rotational speed of the crankshaft, or the like.

The controlled object switching means selects the first target throttle opening when the condition is satisfied, and selects the second target throttle opening based on the operation amount of the accelerator pedal by the driver when the condition is not satisfied. For selection, a mechanical link mechanism may be adopted or an electronic type may be used.

[0011]

According to the above-mentioned technical means, when the constant vehicle speed condition is not satisfied by the target vehicle speed updating means, or at the moment when the condition is not satisfied, the target vehicle speed is changed to the current vehicle speed detected by the vehicle speed detecting means. Therefore, if constant-speed traveling is requested by the constant-speed traveling requesting means, the vehicle is accelerated by depressing the accelerator pedal, and the vehicle can travel at a constant speed after acceleration. Even if the vehicle is decelerated by operating the brake pedal, the constant speed traveling function is not canceled, and if the operation amount of the brake pedal is set to zero again, the constant speed traveling function is automatically restored and decelerated. It becomes possible to run at a constant speed at that speed. Therefore, the operation amount of the driver can be reduced even on a congested road.

During constant speed running (when there is a request for constant speed running)
When the driver depresses the accelerator pedal, the control target switching means switches to the control based on the operation of the accelerator pedal by the driver, so the accelerator pedal is depressed during constant speed traveling (when there is a constant speed traveling request). In this case, the accelerator feel is the same as the accelerator feel when the accelerator pedal is depressed during normal operation (when constant speed travel is not required).

Therefore, when the driver switches from a vehicle using the above technical means to a vehicle controlled according to the amount of depression of the accelerator pedal, or vice versa, the driver feels confused and uncomfortable in the accelerator feel. Can be reduced.

Further, since the vehicle can be decelerated by the braking force by the driver simply depressing the brake pedal while traveling at a constant speed, the driver in the brake feel can change when the vehicle is changed from a general vehicle or vice versa. It can reduce awkwardness and discomfort.

Further, the accelerator non-operation detecting means determines that the accelerator is operated when the actual throttle opening is larger than the first target throttle opening, and the actual throttle opening is equal to or less than the first target throttle opening. Since it is determined that the accelerator is not operated at the time of, it is possible to detect that the accelerator pedal is operated or not operated by using the throttle opening detection means already provided in the conventional constant speed traveling device.
There is no need to newly install an accelerator switch, an accelerator sensor, etc., which is advantageous in terms of cost.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings.

The present embodiment is applied to a vehicle having a conventional constant speed traveling function. FIG. 1 is a block diagram of a vehicle constant speed traveling control device according to the present embodiment.

In the vehicle constant speed traveling control device shown in FIG. 1, an on / off type main switch 1 as a constant speed traveling requesting means for requesting the vehicle to travel at a constant speed and a driver not operating the brake pedal 4 are shown. An on-off type brake sensor 5 as a brake non-operation detecting means for detecting, a brake lamp 6 lit by depressing the brake pedal 4, and a vehicle speed sensor 7 as a vehicle speed detecting means for detecting the current vehicle speed of the vehicle are provided. The opening of the throttle valve 9 provided in the intake passage M is detected by a throttle sensor (throttle opening detecting means) 30. The main switch is installed in the driver's seat.
It should be noted that in this embodiment, an accelerator sensor, an accelerator switch, etc. are not provided.

When the driver depresses the accelerator pedal 2, the throttle valve 9 interlocks with the cable 8c connected to the accelerator pedal 2 and the mechanical link mechanism 8 to open and close the throttle valve 9. . As a result, the throttle opening is adjusted and the amount of intake air to the engine in the intake passage M is adjusted.

The controller 10 includes an input processing circuit 11
, The microcomputer 12, the motor drive circuit 13, the electromagnetic clutch drive circuit 14, and the main relay 1 for supplying power from the battery 15 to the microcomputer 12 and the circuits 13, 14.
6 and. Signals from the accelerator sensor 3, the brake sensor 5, the main switch 1, and the vehicle speed sensor 7 are input to the microcomputer 12 via the input processing circuit 11.

The constant speed actuator 20 is operated during constant speed running, and includes a motor 21 and an electromagnetic clutch 2.
2 and. The motor 21 is driven by the motor drive circuit 13, and the electromagnetic clutch 22 is driven by the electromagnetic clutch drive circuit 14. Since the electromagnetic clutch 22 is off during normal operation, the throttle valve 9 is opened and closed via the cable 8c and the mechanical link mechanism 8 based on the amount of depression of the accelerator pedal 2 by the driver, but the driver does not operate at a constant speed. When the main switch 1 for traveling is turned on to request constant speed traveling, the electromagnetic clutch 22 is turned on and the motor 21 and the throttle valve 9 are connected, so that the driver does not depress the accelerator pedal 2. The rotational force of the motor 21 is transmitted to the throttle valve 9 via the electromagnetic clutch 22, the throttle valve 9 is opened and closed, and the throttle opening is adjusted.

FIG. 2 is a flowchart of a constant speed traveling processing subroutine executed by the microcomputer 12 of the controller 10.

As shown in the figure, in step A3, the current vehicle speed is calculated based on the signal from the vehicle speed sensor 7. In step A5, it is determined whether the main switch 1 is on or off. If the main switch 1 is on, it is determined in step A7 whether the accelerator pedal 2 is off. If the accelerator pedal 2 is off, it is determined in step A9 whether the brake pedal 4 is off. If the brake pedal 4 is off, step A1
At 1, the constant speed traveling condition flag is set to 1. Here, the constant speed traveling condition flag being 1 means that the constant speed traveling condition is satisfied. When the constant speed traveling condition flag is 0, it means that the constant speed traveling condition is not satisfied and means that the constant speed traveling function is canceled. The constant speed traveling condition flag is set to 0 by turning on an ignition switch (not shown) at the time of starting.

On the other hand, if the result of the determination in step A5 is that the main switch 1 is off, the result of the determination in step A7 is the accelerator pedal 2 is on, and the result of the determination in step A9 is the brake pedal 4 is on, then the process proceeds to step A13. , The constant speed traveling condition flag is set to 0 because the constant speed traveling condition is not satisfied.

From step A11 and step A13 to step A15, it is determined whether the constant speed traveling condition flag is 1 or 0. If the constant speed traveling condition flag is 0, the target vehicle speed is updated to the current vehicle speed calculated in step A3 in step A17.

If the result of determination in step A15 is that the constant speed traveling condition flag is 1, the operation proceeds to step A19. In step A19, the motor duty ratio (output control amount) of the motor 21 is calculated from the target vehicle speed and the current vehicle speed to obtain the output of the motor 21. After that, the constant speed traveling condition flag is determined in step A21 in order to switch the control target. When the constant speed traveling condition flag is 1, the mode in which the vehicle is traveling at the constant speed at the updated target vehicle speed is selected. That is, the main relay 16 is turned on in step A23, the electromagnetic clutch 22 is turned on in step A25, a control signal for driving the motor 21 is output in step A27, and the process returns to the main routine. As a result, the throttle valve 9 is controlled based on the motor 21 driven by the motor duty ratio, and the vehicle runs at a constant speed.

If the result of determination in step A21 is that the constant speed traveling condition flag is 0, throttle control is selected by the driver's depression of the accelerator pedal 2. That is, the main relay 16 is turned off in step A31, the electromagnetic clutch 22 is turned off in step A33, and the motor 21 is turned off in step A35. As a result, the cable 8 is released based on the depression of the accelerator pedal 2 by the driver.
The throttle valve 9 is opened and closed via c and the link mechanism 8.

As shown above, once the main switch 1
When a constant speed running is requested by turning on the vehicle, the constant speed running condition flag is set to 1 and the vehicle runs at a constant speed if the conditions of turning off the accelerator padal 2 and turning off the brake pedal 4 are satisfied.

If the driver depresses the accelerator pedal 2 during constant-speed traveling, the constant-speed traveling condition is not satisfied, so the constant-speed traveling function is not executed. Therefore, based on the amount of depression of the accelerator pedal 2 by the driver. Be accelerated. After that, when the accelerator pedal 2 is turned off, the constant speed traveling condition is satisfied and the constant speed traveling is executed, and the vehicle travels at the constant speed so that the vehicle speed becomes the speed at the time when the condition is satisfied.

Further, if the driver depresses the brake pedal 4 during constant-speed traveling, the constant-speed traveling condition is not satisfied, so the constant-speed traveling function is not executed, and therefore the vehicle decelerates based on the amount of depression of the brake pedal 4. To be done. After that, when the brake pedal 4 is turned off, the constant speed traveling condition is satisfied, the constant speed traveling is executed, and the vehicle travels at the constant speed so that the vehicle speed becomes the speed at the time when the condition is satisfied.

FIG. 3 shows the constant speed running after acceleration while the main switch 1 for the constant speed running is turned on.
3 is a timing chart that schematically shows a form of constant speed running after deceleration. In FIG. 3, the characteristic line E1 is the vehicle speed, the characteristic line E2 is the throttle opening, and the characteristic line E3 is the accelerator pedal 2.
Depression amount, characteristic line E4 indicates the depression of the brake pedal 4.

First, as shown by the characteristic line E3, the accelerator pedal 2 is started to be depressed from time T1.

At this time, the constant speed traveling function is canceled. Therefore, as shown by the characteristic line E2, the throttle opening of the throttle valve 9 also gradually increases from time T1. Therefore, as indicated by the characteristic line E1, the vehicle speed also gradually increases from time T1. Then, as shown by the characteristic line E3, at time T3, when the accelerator pedal 2 is depressed to zero and the accelerator is turned off, the condition is satisfied and the constant speed traveling function is restored along with the accelerator off, and the current vehicle speed at time T3 is reached. Is set as the target vehicle speed for constant speed running. That is, from time T3, vehicle speed V3 at time T3
It runs at a constant speed. At this time, the throttle opening is maintained at θ3.

Further, when the brake pedal 4 is stepped on at time T4 as shown by the characteristic line E4 and the brake is turned on, the condition is not established and the constant speed traveling function is released, and the throttle is opened from the time T4 as shown by the characteristic line E2. The degree corresponds to the accelerator depression amount, and the current vehicle speed gradually decreases from time T4 as shown by the characteristic line E1. Then, as shown by the characteristic line E4, at time T5, when the amount of depression of the brake pedal 4 is set to zero and the brake is turned off, the condition is satisfied and the constant speed traveling function is restored, and the current vehicle speed at time T5 is constant speed traveling. Is set as the target vehicle speed. That is, from time T5, the vehicle travels at the constant speed V5 at time T5. At this time, the throttle opening is maintained at θ5.

FIG. 4 is a flow chart of the accelerator operation detection subroutine of the accelerator non-operation detecting means which is the gist of the present invention for detecting that the accelerator pedal is not operated.

First, in step C3, the throttle sensor 3
The throttle opening detected by 0 is calculated, and it is confirmed in step C5 whether the accelerator non-operation flag is 1 or 0. Here, the accelerator non-operation flag is 1 means that the accelerator is off, and the accelerator non-operation flag is 0 means that the accelerator is on. Step C
If the accelerator non-operation flag is 1 in step 5, step C7
In step C3, it is determined whether the actual throttle opening is larger than the sum of the cruise opening (that is, the target throttle opening determined by the current vehicle speed or the target vehicle speed during constant speed traveling) and the predetermined opening α. To do. Here, the predetermined opening degree α is set to a value considering the responsiveness of the motor 21. If the actual throttle opening is larger than the sum of the cruise opening and the predetermined opening α in step C7, the accelerator non-operation flag is set to 0 in step C9. As a result of the determination in step C7, the actual throttle opening is the cruise opening and the predetermined opening α
If the sum is less than or equal to, the accelerator non-operation flag remains 1. In this way, the accelerator operation detecting means determines that the accelerator pedal 2 has been operated when the actual throttle opening detected by the throttle sensor 30 when the accelerator pedal 2 is not operated is larger than the cruise opening, and the cruise opening is performed. If it is less than or equal to the degree, the driver determines that the accelerator pedal is still not operated.

On the other hand, if the result of determination in step C5 is that the accelerator non-operation flag is 0, it is determined in step C11 whether the actual throttle opening is less than or equal to the cruise opening. If the actual throttle opening is less than the cruise opening, the accelerator non-operation flag is set to 1 in step C12.
Set to. If the result of determination in step C11 is that the actual throttle opening is larger than the cruise opening, the accelerator non-operation flag remains 0. In this way, the accelerator operation detecting means determines that the operation of the accelerator pedal 2 has been released if the actual throttle opening becomes equal to or less than the cruise opening while operating the accelerator pedal 2, and if the actual throttle opening exceeds the cruise opening. It is determined that the driver is still operating the accelerator pedal 2.

In this way, the throttle opening is compared with the cruise opening to detect whether the accelerator pedal 2 is on or off.

As described above, in the first embodiment, if constant speed running is requested by the main switch 1, the accelerator pedal is depressed to accelerate the vehicle, and the vehicle can be run at constant speed after acceleration. . Also, even if the brake pedal is operated to decelerate the vehicle, the constant speed traveling function is not completely canceled, and if the operation amount of the brake pedal is set to zero again,
The constant-speed driving function is automatically restored, and the vehicle can be driven at a constant speed after deceleration.

Therefore, the driver's operation amount can be reduced even on a congested road.

During constant speed running (when there is a request for constant speed running)
When the driver depresses the accelerator pedal 2, the control target switching means switches to the control based on the operation of the accelerator pedal 2 by the driver, so that the accelerator pedal is operated during constant speed traveling (when there is a constant speed traveling request). The accelerator feel when stepping on 2 matches the accelerator feel when stepping on accelerator pedal 2 during normal operation (when no constant speed travel is required). Therefore, when the driver switches from the vehicle using this embodiment to a vehicle controlled according to the amount of depression of the accelerator pedal 2, or vice versa, the driver can feel less discomfort and discomfort in the accelerator feel. .

Further, since the vehicle can be decelerated by the braking force by the driver simply depressing the brake pedal during the constant speed running, the driver in the brake feel can be changed when the vehicle is changed from an ordinary vehicle or vice versa. It can reduce awkwardness and discomfort.

Further, when the actual throttle opening is larger than the cruise opening, it is judged that the accelerator is operated, and when the actual throttle opening is less than the cruise opening, it is judged that the accelerator is not operated. Since the operation or non-operation of the accelerator pedal can be detected using the throttle sensor 30 already installed in the high speed traveling device, it is not necessary to newly install an accelerator switch, an accelerator sensor or the like.
It is cost effective.

Further, since the actual throttle opening is compared with the sum of the cruise opening and the predetermined opening α when detecting the change from accelerator off to accelerator on, the response of the motor 21 during constant speed running Even if the throttle opening during constant speed travel exceeds the cruise opening due to the delay in the property, erroneous detection will not occur. Therefore, reliability is improved.

[0045]

The present invention has the following effects.

When the driver depresses the accelerator pedal during constant speed traveling (when there is a constant speed traveling request), the control object switching means switches to control based on the driver's operation of the accelerator pedal. The accelerator feel when the accelerator pedal is depressed during traveling (when there is a constant speed traveling request) matches the accelerator feel when the accelerator pedal is depressed during normal operation (when there is no constant speed traveling request). Therefore, when the driver switches from the vehicle using the present embodiment to a vehicle controlled according to the amount of depression of the accelerator pedal, or vice versa, the driver can be less confused and uncomfortable in the accelerator feel.

Further, since the vehicle can be decelerated by the braking force by the driver simply depressing the brake pedal while traveling at a constant speed, when the vehicle is changed from an ordinary vehicle or vice versa, It can reduce awkwardness and discomfort.

Further, when the actual throttle opening is larger than the cruise opening, it is judged that the accelerator is operated, and when the actual throttle opening is less than the cruise opening, it is judged that the accelerator is not operated. Since the operation or non-operation of the accelerator pedal can be detected by using the throttle sensor already installed in the high speed traveling device, it is not necessary to newly install an accelerator switch or an accelerator sensor, which is advantageous in cost.

[0049]

[Brief description of drawings]

FIG. 1 is a block diagram of a vehicle constant-speed traveling control device according to the present embodiment.

FIG. 2 is a flowchart of a constant speed traveling processing subroutine according to the present embodiment, which is executed by a microcomputer of a controller.

FIG. 3 is a time chart showing a form of constant speed running.

FIG. 4 is a flowchart of an accelerator pedal operation detection subroutine executed by an accelerator operation detection means according to this embodiment.

FIG. 5 is a claim correspondence diagram.

[Explanation of symbols]

 1 main switch (constant speed travel request means) 2 accelerator pedal 5 brake sensor (brake non-operation detection means) 7 vehicle speed sensor (vehicle speed detection means) 9 throttle valve 30 throttle sensor (throttle opening detection means)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuo Yoshikawa 2-1, Asahi-cho, Kariya city, Aichi Aisin Seiki Co., Ltd.

Claims (1)

[Claims] 1. A throttle valve for adjusting an intake air amount of an internal combustion engine, a throttle opening detection means for detecting an opening of the throttle valve, and a constant speed travel request means for requesting a constant speed travel of a vehicle. , Accelerator non-operation detection means for detecting that the driver is not operating the accelerator pedal, brake non-operation detection means for detecting that the driver is not operating the brake pedal, and the current vehicle speed of the running vehicle. The vehicle speed detection means that detects the constant speed running condition, the constant speed running condition is requested, the constant speed running condition is determined to be satisfied when the accelerator pedal is not operated, and the brake is not operated. The driving condition determining means and the target vehicle speed updating means for updating the target vehicle speed to the current vehicle speed detected by the vehicle speed detecting means at the moment when the condition is not satisfied or when the condition is changed from not satisfied to being satisfied. And a target throttle opening degree setting means for setting a first target throttle opening degree so that the current vehicle speed matches the target vehicle speed updated by the target vehicle speed updating means, and the first target throttle opening degree when the condition is satisfied. When the condition is not satisfied, the control target switching means for selecting the second target throttle opening degree based on the operation amount of the accelerator pedal by the driver and the target throttle opening degree selected by the control target switching means are matched. Throttle opening control means for controlling the actual throttle opening, and the accelerator non-operation detecting means includes the actual throttle opening detected by the throttle opening detecting means and the first target throttle opening. This is to judge whether to operate the accelerator or not to operate the accelerator based on the result of the comparison with the actual speed. When the throttle opening is larger than the first target throttle opening, accelerator operation is determined, and when the actual throttle opening is equal to or smaller than the first target throttle opening, accelerator operation is not performed. Vehicle constant speed control device.